The Research Of Multi-wheeled And Legged Robot For Climbing The Wall-corner

In recent decades,with the development of robotics,human beings have gradually been freed from complex,cumbersome and high-risk work.Robots can be used for detection of unknown environments,disaster relief,industrial manufacturing,home services,aerial work,underwater operations,etc.It is a good substitute for humans to accomplish these dangerous tasks.At present,most mobile robots can only move on the ground,and relatively few robots can work on the wall.In today's world,the adsorption methods of climbing-wall robots mainly include magnetic adsorption,biomimetic adsorption,electrostatic adsorption,positive pressure adsorption and negative pressure adsorption.The research deeply analyzes the advantages and disadvantages of the five adsorption methods,and investigates the characteristics of the wall-corners that can be seen everywhere.This thesis innovatively proposes a mutil-wheeled and legged robot that can be used to climb wall-corner.The robot's adsorption method is based on frictional adsorption on the wall-corner.Its components are adsorption mechanism,climbing mechanism and clamping mechanism.The clamping mechanism is used to clamp the adsorption mechanism and the climbing mechanism on the wall.The robot is adsorbed on the wall by the adsorption mechanism,and uses the climbing mechanism to climb on the wall.In order to robot can more stably adsorb on the wall,phase synchronization technology is used to achieve mutil-point adsorb to the wall and to enhance adsorption stability.The robot has the advantages of the wheeled robots and the legged robots.These advantages are high mobility and the ability to transition between different walls.In general,the robot can freely move on the ground,climb on the wall-corner,climb from the ground to the wall and return.It also has a certain ability to resist adsorption failure.In the first part,the thesis introduces the goal and significance of the research,and describes the research status of climbing-wall robots.It focuses on introducing the five classic climbing-wall adsorption principles,and pointing out the key problems and difficulties of this research to be solved.The second part introduces the advantages and disadvantages of the five classical adsorption methods,and then proposes the scheme of adsorption for the research.According to the actual functional requirements and working environment,the overall structure of the robot is proposed.This part describes the working principle that the robot adsorption and climbing on the wall-corner.The robot's components must meet the requirements of lightweight,because of the robot needs towork on the building's wall-corner.In order to enhance the stability of robot adsorption,this thesis uses phase synchronization technology for the adsorption mechanism.In the third part,according to the overall design of the robot,the three-legged gait on the ground and four-legged gait on the wall-corner are proposed,and the static stability conditions of the robot are also analyzed.In the fourth part,the kinematics modeling of the robot's leg is built,the coordinate transformation matrix and velocity matrix of the end joints of each leg is obtained.The dynamics analysis demonstrates that the principle of robot adsorption and climbing is correct.This part also analyzes three common failures for climbing the wall-adsorption failure,climbing failure and contact failure.Based on kinematics and dynamics analysis,this part builds the mathematical model of the robot and proposes a dynamic fuzzy PID motion control algorithm that combines fuzzy control algorithm and PID control algorithm.According to the functional requirements of the robot,the fifth part designs the embedded system of the robot,describes the working principle of the hardware system,and introduces the required components in detail.This part also designs the driver of the lower computer and the control software of upper computer,which effectively solves the wireless communication problem of the robot.In the sixth part,according to the theoretical research and overall design of the previous parts,two experimental prototypes are made,and the experimental platform of the robot is built.The experimental method and performance evaluation index of the robot are designed.The robot motion experiment on the ground and the climbing wall-corner experiment are described in detail.In the experiment,three different speed and torque motors are used to drive the robot.At the same time,all experimental data are recorded during the experiment.The experimental results show that the robot driven by high speed and low torque motor has the highest efficiency when moving on the ground.During the climbing-wall process,the robot driven by the low speed and high torque motor has the highest success rate and the most stable climbing speed,but the climbing efficiency is more lower.Experiments show that the corner-friction adsorption method of the climbing wall robot described in this research is feasible,with a relatively high climbing success rate on the wall-corner and good motion efficiency on the ground.The last part is a summary and outlook.It summarizes the achievements and shortcomings of this research.This part also predicts the application scenarios of this study,as well as future research directions.The thesis proposes a new adsorption method for climbing-wall robot,which opens up new research directions for climbing-wall robots.In the application of the robot,the building'swall-corners can be utilized,and multiple robots can work together in multiple wall-corners to form a system for cleaning,spraying,and maintenance of the wall.This research has high research value and the application value.The robot has the characteristics which is simple structure,climbing stability,convenient control,lightweight,low noise,low power consumption and better working surface adaptability.